| 摘要 |
PROBLEM TO BE SOLVED: To provide a multi-joint manipulator of wire drive type capable of controlling quantitatively the axis rotational motion and folding turning motion of each coupling part of joints independently of each other using driving means corresponding to different coupling parts. SOLUTION: The motions of rotors 20 and 30 and turning arms 21 and 31 of this multi-joint manipulator A are generated so that the forward path and return path of wires W1, W2, W3, W4 are advanced and retreated in the regular and reverse directions in the same quantity by motors M1, M2, M3, M4. When the coupling parts ja, jb, jc on the base side have moved relative to the coupling parts jb, jc, jd driven by the respective wires, the forward path and the return path between the wire fixation part on the side with the rotor 30 or the turning arms 21 and 31 and the wire fixation part on the motor side change in the same direction and in the same quantity. When the advancing and retreating motions of the wires have caused the rotors 20 and 30 or the turning arm 21 to move, the motor to drive the coupling parts jb, jc, jd existing farther advances and retreats in the wire set-over direction. COPYRIGHT: (C)2006,JPO&NCIPI
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